The frame should be stiff enough that when all four rails are suspended on jack stands, a difference would be noticeable. This is also counting on your garage or driveway being fairly level, which most are not.
Once off the axle (note: axle removal is NOT necessary. Just put the stands up high enough that the rear axle can hang without the tires or brake cylinders touching the floor) try running either a line level across from one side of the frame to another. If the truck sits firmly on the stands, odds are everything is straight, so long as the jack stands are set to the same height. If things aren't jibing when you have it on the stands, run the level across to see it there is an issue.
If you want to get crazy with it, you could do this same thing incrementally from the rear of the frame towards the front. This test will only give you a general idea of the trueness of the frame in terms of vertical shift. You could bust out the tech manual for horizontal measurements to check and see if it is tweaked left or right.